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@@ -62,3 +62,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 20260919_180611/left/oakd_depth.mkv filter=lfs diff=lfs merge=lfs -text
 20260919_180646/left/oakd_depth.mkv filter=lfs diff=lfs merge=lfs -text
 20260919_180714/left/oakd_depth.mkv filter=lfs diff=lfs merge=lfs -text
+20260919_180749/left/oakd_depth.mkv filter=lfs diff=lfs merge=lfs -text

20260919_180749/left/frame_timestamps.json

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20260919_180749/left/frames.json

@@ -0,0 +1,163 @@
+{
+  "urdf_source": "grabette_left/robot.urdf",
+  "parent_link": "grip_r",
+  "frames_in_grip_r": {
+    "camera": [
+      [
+        1.0,
+        0.0,
+        -0.0,
+        0.0408486
+      ],
+      [
+        0.0,
+        -0.34201809743194533,
+        0.939693365427804,
+        -0.0255417
+      ],
+      [
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+        -0.939693365427804,
+        -0.34201809743194533,
+        0.0701847
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "oak_l": [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0173486
+      ],
+      [
+        -0.0,
+        -3.673205103346574e-06,
+        0.9999999999932537,
+        -0.025667
+      ],
+      [
+        0.0,
+        -0.9999999999932537,
+        -3.673205103346574e-06,
+        0.0298246
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "oak_r": [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0373486
+      ],
+      [
+        -0.0,
+        -3.673205103346574e-06,
+        0.9999999999932537,
+        -0.025667
+      ],
+      [
+        0.0,
+        -0.9999999999932537,
+        -3.673205103346574e-06,
+        0.0298246
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "gripper_center": [
+      [
+        -3.673205103346574e-06,
+        -0.9999999999932537,
+        0.0,
+        0.0373485
+      ],
+      [
+        0.9999999999932537,
+        -3.673205103346574e-06,
+        -0.0,
+        0.0335873
+      ],
+      [
+        0.0,
+        -0.0,
+        1.0,
+        -0.0232
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "thumb_tip": [
+      [
+        0.6971025837445746,
+        2.6335830036882566e-06,
+        -0.7169713995200245,
+        0.0910992
+      ],
+      [
+        0.7169713995248614,
+        -2.5606007681666537e-06,
+        0.6971025837398718,
+        0.0551614
+      ],
+      [
+        -0.0,
+        -0.9999999999932537,
+        -3.673205103346574e-06,
+        -0.0232
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  },
+  "T_camera_in_oak_l": [
+    [
+      1.0,
+      0.0,
+      0.0,
+      0.0235
+    ],
+    [
+      0.0,
+      0.9396946217240855,
+      0.34201464574317253,
+      -0.04036010045998032
+    ],
+    [
+      0.0,
+      -0.34201464574317253,
+      0.9396946217240856,
+      0.00012515174907385893
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "note": "4x4 row-major homogeneous transforms, meters + radians. frames_in_grip_r[X] = T_X_in_grip_r (pose of frame X in the grip_r link frame). T_camera_in_oak_l = inv(T_oak_l_in_grip_r) @ T_camera_in_grip_r \u2014 provided as a convenience so SLAM poses (produced in the oak_l frame) can be re-expressed in the primary RPi camera frame without URDF parsing."
+}

20260919_180749/left/metadata.json

@@ -0,0 +1,24 @@
+{
+  "duration_seconds": 13.3,
+  "frame_count": 615,
+  "imu_sample_count": 7974,
+  "angle_sample_count": 1291,
+  "fps": 46.581,
+  "backend": "rpi",
+  "hand": "left",
+  "angle_convention": "positive_closing",
+  "device_id": "grabette-3e74a55f",
+  "urdf": "grabette_left",
+  "oakd": {
+    "left_frames": 625,
+    "right_frames": 625,
+    "depth_frames": 611,
+    "imu_samples": 7974
+  },
+  "sync": {
+    "scheduled_start_utc": "2026-09-19T18:07:49.020774+00:00",
+    "capture_started_utc": "2026-09-19T18:07:49.105655+00:00",
+    "wake_skew_ms": -0.7,
+    "start_capture_ms": 85.6
+  }
+}

20260919_180749/left/oakd_calib.json

@@ -0,0 +1,330 @@
+{
+  "batchName": "",
+  "batchTime": 1709728455,
+  "boardConf": "nIR-C15M00-00",
+  "boardCustom": "",
+  "boardName": "DM2080",
+  "boardOptions": 8,
+  "boardRev": "R4M2E4",
+  "cameraData": [
+    [
+      1,
+      {
+        "cameraType": 0,
+        "distortionCoeff": [
+          22.65839385986328,
+          -31.883333206176758,
+          -0.000979212811216712,
+          0.0006404091836884618,
+          11.8269681930542,
+          22.050540924072266,
+          -30.095029830932617,
+          10.504436492919922,
+          0.0,
+          0.0,
+          0.0,
+          0.0,
+          0.0,
+          0.0
+        ],
+        "extrinsics": {
+          "lengthUnit": 1,
+          "rotationMatrix": [
+            [
+              0.9999878406524658,
+              -0.001330565894022584,
+              -0.0047486890107393265
+            ],
+            [
+              0.0013834835262969136,
+              0.9999368190765381,
+              0.011157806031405926
+            ],
+            [
+              0.004733542911708355,
+              -0.01116423960775137,
+              0.9999264478683472
+            ]
+          ],
+          "specTranslation": {
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20260919_180749/left/oakd_calib_offline.json

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20260919_180749/left/oakd_left.mp4

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20260919_180749/left/oakd_left_timestamps.json

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20260919_180749/left/oakd_right.mp4

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20260919_180749/left/oakd_right_timestamps.json

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20260919_180749/left/raw_video.mp4

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+oid sha256:2b2a8041b0b083aab83897e59073641613f1dc0bf625a652a3f1a67c4744823b
+size 12811713

20260919_180749/left/rpi_camera_intrinsics.json

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+{
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+  "image_height": 972,
+  "intrinsic_type": "FISHEYE",
+  "intrinsics": {
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+    "radial_distortion_4": 0.002255799946569448,
+    "skew": 0.0
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+  "calibration_source": "OpenICC (full spline optimization)",
+  "camera_reproj_error": 0.31874753391544464,
+  "imu_camera_reproj_error": 7.244266583888487,
+  "nr_calib_images": 29,
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+    "z": -0.006171107108430983
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+    "z": 0.06297362012147899
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+  "_note": "Final calibration from OpenICC spline optimization. Euler angles XYZ: (116deg, 12deg, 5deg)"
+}